#
# The find_package macro for Orocos-RTT works best with
# cmake >= 2.6.3
#
cmake_minimum_required(VERSION 2.6.3)

project(atc_motor_torque)

include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})

include_directories(../../../robot_definitions)

# Find GTK libraries and build GUI library.
find_package(GTK2 2.4 COMPONENTS gtk gtkmm REQUIRED)
if (GTK2_FOUND)
    include_directories(${GTK2_INCLUDE_DIRS})
    rosbuild_add_library(controller_gui SHARED src/controller_gui.cpp)
    target_link_libraries(controller_gui ${GTK2_LIBRARIES})
endif (GTK2_FOUND)

# Find RTT libraries and build Orocos Component.
rosbuild_find_ros_package( rtt )
set( RTT_HINTS HINTS ${rtt_PACKAGE_PATH}/../install )

# Set the CMAKE_PREFIX_PATH in case you're not using Orocos through ROS
# for helping these find commands find RTT.
find_package(OROCOS-RTT REQUIRED ${RTT_HINTS})

# Defines the orocos_* cmake macros. See that file for additional
# documentation.
include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake)

orocos_component(motor_torque_controller src/controller_component.cpp)


# Generate RTT typekits. This is based on the CMakeLists.txt generated by
# create-rtt-msgs from the package rtt_rosnode.
rosbuild_include(rtt_rosnode GenerateRTTtypekit)
ros_generate_rtt_typekit(atc_motor_torque)

